二阶stokes波作用下水下机器人载体结构稳定性分析

Stability analysis of an underwater robot carrier structure under the action of second-order stokes waves

基于模块化设计思想,设计一种以桁架结构为主体并可搭载和输送水下机器人及辅助设备进行水下作业的载体结构。要求载体结构在伴随着风、浪、流等联合作用复杂多样的海洋环境中,不仅安全、稳定可靠而且结构简单实用且便于储藏。根据《海岸动力学》波浪调研报告,选取发生频率较高的二阶stokes波浪参数,利用Ansys基于边界造波法实现入口处波浪扰动,采用VOF计算方法实现自由液面的追踪并通过阻尼消波技术实现二阶stokes波浪数值模拟,完成波流作用下载体结构受力仿真分析。对载体结构的关键部位进行结构响应特性分析,采用Block Lanzcos法对整体结构进行模态分析,此外将波浪力时程施加于载体结构,进行结构瞬态动力分析,获得在未安装吸盘与安装吸盘时的位移和应力时程曲线并对曲线极值进行分析,验证水下机器人载体结构的稳定性和可靠性。

Based on the modular design idea,we design an underwater robot carrier structure with truss structure as the main body and can carry and transport underwater robots and auxiliary equipment for underwater operation.The carrier structure is required to be not only safe,stable and reliable but also simple and practical and easy to store in a complex and diverse marine environment with the combined effects of wind,waves and currents.According to the wave research report of Coastal Dynamics,the second order stokes wave parameters with high frequency are selected,the wave disturbance at the entrance is realized by Ansys based on the boundary wave making method,the free liquid surface is tracked by VOF calculation method and the second order stokes wave is numerically simulated by the damping wave elimination technique to complete the simulation analysis of the carrier structure under the action of wave current.In addition,the wave force is applied to the carrier structure and the transient dynamic analysis is carried out.The displacement and stress time curves are obtained when the suction cup is not installed and when the suction cup is installed,and the extreme values of the curves are analyzed to verify the stability and reliability of the carrier structure of the underwater robot.The stability and reliability of the underwater robot carrier structure are verified.